Siemens SINUMERIK 840D sl Function Manual page 332

K3: Compensations
5.9 Friction compensation with adaptive characteristics
● In relation to the set position (compensation mode (Page 333) = 3), better results are
achieved by early application of the compensation value.
● If the velocity setpoint pulse is insufficient to achieve the desired result, e.g. for gearless
drives, a pulse can additionally be applied to the torque setpoint.
● Four compensation characteristics with up to nine acceleration interpolation points can be
defined.
● Settable parameters for the velocity setpoint pulse:
– Delay time
– Amplitude
– Action time
– Rise time
– Decay time
● Settable parameters for the torque setpoint pulse:
– Amplitude
– Delay time
– Rise time
● A temperature, leadscrew error, and/or sag compensation that is active in parallel has no
effect on the friction compensation.
1): Parameters that can be adapted depending on the acceleration
Note
In most applications, compensation by means of velocity setpoint pulse and compensation
characteristics for amplitude and decay time are sufficient. Only if no satisfactory results have
been achieved should further options be used.
332
1)
1)
1)
1)
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions